2020-07-19 Meeting notes

UGV suff

Sahil

• Idea 1: Aircraft tug idea

  • Would only lock in/chalk/cup with nose wheel and tug it from there

  • Nosewheel dolly: Have a tiny platform that constrains the nose wheel, then have the UGV tug it

• Future: Will need to double check how the package needs to be picked up/handled

Battery Sensor

Sahil

• Submitted PR, Lucy left a comment, Anthony to review

Sensor Fusion Update

Lucy

• Created 3 unit tests:

  • FailedBusyIMUDataReturnsNegative1: Check that errorcode output by SF_GetResult is -1 if IMU data is bad

  • FailedBusyAirspeedDataReturnsNegative1: Check that errorcode output by SF_GetResult is -1 if airspeed data is bad

  • OldDataReturns1: Check that errorcode output by SF_GetResult is 1 if data is old

• SetArgReferee issue

  • Google Mock has a an Action call SetArgReferee that allows you to replace the argument used in a mock method by a specified value

  • To use this action, the method must call the argument by reference, which is not exactly the same as call by pointer.

• Work with Annie to figure how the StateMachine

Simulation stuff

Anthony

• Caught a large pike! The following notes are from last week:

• We’ve got propulsion, elevator and aileron (with adverse yaw) working in the sim.

• The stuff that’s currently pushed on the master branch of the simulation repo runs stand alone, as an example, and is also ready to be hooked into our autoPilot software.

  • I’ve put instructions inside Spike/Cmakelists.txt for running it standAlone, feel free to screw around with various aileron, throttle and elevator settings and see how airspeed, altitude, angle of attack and a bunch of other cool shit changes over time.

  • The implementations that hook into the sensor interfaces and the SendToSafety modules are working. Some instructions for hookup in Cmakelists.txt

Moving forward:

• Rudder still needs to be modeled. Datcom does not model rudders for some reason, so a more creative way of determining the coefficients will have to be figured out.

• Things need to be hooked up. I envision a -s option when we run our build script to run the simulation.

• Docs need to be written about what’s going on and how to make changes to the sim.

Adjustments of deadlines

Anthony

• Deadlines are being pushed back every week :(

• End of July:

  • Get entire AttitudeManager

  • Working simulation

  • Code that is compatible w/ the simulation so we can confirm that our software works